CN102350696A - Three-translational parallel movement device - Google Patents
Three-translational parallel movement device Download PDFInfo
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- CN102350696A CN102350696A CN2011102730927A CN201110273092A CN102350696A CN 102350696 A CN102350696 A CN 102350696A CN 2011102730927 A CN2011102730927 A CN 2011102730927A CN 201110273092 A CN201110273092 A CN 201110273092A CN 102350696 A CN102350696 A CN 102350696A
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Abstract
The invention relates to a three-translational parallel movement device, which comprises a movable platform, a static platform and three identical branch chains, wherein the three identical branch chains are connected between the movable platform and the static platform, each branch chain is provided with two rotating pair series connection structures respectively with two groups of mutually parallel axes and is formed by a moving pair in the middle through series connection, and in addition, both ends of each branch chain are respectively connected with the movable platform and the static platform through the rotating pair arranged at the outmost end of the branch chain; simultaneously, one or two of the three identical branch chains can be replaced by a structure that the three rotating pair series connection structure with mutually parallel axes are connected serially with the other two rotating pair series connection structure with the mutually parallel axes; and further, the third one in the three same branch chains can be replaced by a ball-pair, ball-pair and rotating-pair series connection structure. The three-dimensional pure translational output of the movable platform is obtained through controlling three rotating pairs arranged on the static platform. The mechanism has a large work space, is convenient to manufacture and install and can be used as an executing mechanism of intelligent equipment such as novel parallel connection coordinate measuring machines, linotype machines, engraving machines, spray painting machines, robots and the like.
Description
Technical field
The present invention relates to the executing agency of a kind of robot and intelligence equipment, specifically a kind of three novel translation parallel kinematic devices are provided for robot and parallel machine, parallelly connected measurement of coordinates, pen machine, engraving machine and parallel manipulator etc.
Background technology
Parallel institution has obtained extensive use in fields such as robot, virtual-shaft machine tool, coordinate measuring machine, emulation platform, microoperation manipulators, and 6DOF Stewart parallel machine has been considered to the revolution of machine tool structure since the twentieth century; The imaginary axis coordinate measuring machine of parallel-connection structure (contain and measure pen machine); It also is a major progress on the scientific measurement appearance in recent years; It has uniquenesses such as structural rigidity is big, movement velocity is high, error does not superpose, and performances such as certainty of measurement and efficiency of measurement are greatly improved.At present, for 6-SPS and 6-RSS mechanism, the spatial pose of its end effector is more flexible, but because the structure of this mechanism is relatively complicated, and what cause its end effector finds the solution and use difficulty.
In commercial Application, the normal lower-mobility parallel institution of requiring with 2-5 free degree, many scholar's research the three-dimensional pure flat output-parallel mechanism that moves, like Delta mechanism, Star Like mechanism etc.; The three-dimensional moving parallel structure (Tsai, Patent Nember:5656905,1997) that Tsai proposes, its main feature be forward kinematics solution be 8 times, position and direction decoupling zero, working space more greatly, form by revolute pair fully.The China scholar has also obtained large quantities of important achievement (as: number of patent application: 01108297.6 in the pure flat research that moves output-parallel mechanism of novel three-dimensional and invention; 01113519.0; 01108297.6; 01108283.6 etc.).
In sum, the development of parallelly connected imaginary axis Digit Control Machine Tool and parallel coordinate measuring machine, engraving machine, pen machine and parallel robot etc. and practicability need create the new architecture that is better than existing mechanism.
Summary of the invention
The present invention seeks to overcome the shortcoming of prior art; One type of new three translations parallel operation platform is provided; Its technical scheme is: a kind of three translation parallel kinematic devices; Comprise moving platform, silent flatform and be connected in three identical side chains between moving platform, the silent flatform; It is characterized in that every side chain has two revolute pair cascaded structures that two groups of axis are parallel to each other separately; And be in series through middle moving sets, and the two ends of every side chain link with moving platform and silent flatform respectively through the revolute pair of aforesaid side chain outermost end respectively; Simultaneously, in three identical side chains one or two, available have three revolute pair cascaded structures that axis is parallel to each other, and another structure with two revolute pairs series connection that axis is parallel to each other of connecting again substitutes; Further, in three identical side chains the 3rd, the cascaded structure of available ball pair-ball pair-revolute pair (S-S-R) or ball pair-moving sets-ball secondary (S-P-S) substitutes.Three revolute pairs on the control silent flatform can obtain the three-dimensional pure flat output that moves of moving platform.That such mechanism has is simple in structure, working space is big, be convenient to make advantage such as installations, for the exploitation and the practicability of virtual axis machine, robot, imaginary axis coordinate measuring machine, engraving machine, pen machine and jiggle robot provides possible.
Description of drawings
Accompanying drawing 1 is the structural representation of first embodiment of the invention.
Accompanying drawing 2 is the structural representation of second embodiment of the invention.
Accompanying drawing 3 is the structural representation of third embodiment of the invention.
The specific embodiment
Through accompanying drawing and instance technology of the present invention is given to illustrate further below.
As second embodiment of the present invention, the 3rd in three identical side chains among first embodiment, with having three revolute pair cascaded structure R that axis is parallel to each other
11-R
12-R
13, connecting, another has the structure R of two revolute pairs series connection that axis is parallel to each other again
14-R
15Substitute.
As of the third embodiment of the invention, the first embodiment, the same three branches in the third, with a spherical joint - ball Vice - Turn vice structure
instead.
Three driving auxiliary R on the control silent flatform 2
11, R
21, R
31Motion, that just can control that moving platform 1 realizes X, Y, Z direction three-dimensional pure flatly moves output.The structural design of this kind parallel institution and drive controlling etc. all can be carried out design and installation by conventional mechanical & electrical technology, and this parallel institution can be used as the executing agency of stacking machine that container shipping uses, parallel coordinate measuring machine, robot, engraving machine.
Claims (3)
1. translation parallel kinematic device; Comprise moving platform (1), silent flatform (2) and be connected in three identical side chains between moving platform (1), the silent flatform (2); It is characterized in that every side chain has two revolute pair cascaded structures that two groups of axis are parallel to each other separately; And be in series through middle moving sets, and the two ends of every side chain link with moving platform (1) and silent flatform (2) respectively through the revolute pair of aforesaid side chain outermost end respectively.
2. according to the described three translation parallel kinematic devices of claim 1; It is characterized in that or two in three identical side chains; Available have three revolute pair cascaded structures that axis is parallel to each other, and another structure with two revolute pairs series connection that axis is parallel to each other of connecting again substitutes.
3. according to the described three translation parallel kinematic devices of claim 1, it is characterized in that the 3rd in three identical side chains, the cascaded structure of available ball pair-ball pair-revolute pair (S-S-R) or ball pair-moving sets-ball secondary (S-P-S) substitutes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102730927A CN102350696A (en) | 2011-09-15 | 2011-09-15 | Three-translational parallel movement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102730927A CN102350696A (en) | 2011-09-15 | 2011-09-15 | Three-translational parallel movement device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102350696A true CN102350696A (en) | 2012-02-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011102730927A Pending CN102350696A (en) | 2011-09-15 | 2011-09-15 | Three-translational parallel movement device |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
| CN1304820A (en) * | 2001-02-28 | 2001-07-25 | 中国石化集团金陵石油化工有限责任公司 | 3D parallel translation mechanism for virtual-axle machine tool and robot |
| CN1310075A (en) * | 2001-04-10 | 2001-08-29 | 中国石化集团金陵石油化工有限责任公司周卫东转 | Three-dimensional translation parallel mechanism for robot and virtual-axis machine measurer |
| CN1381337A (en) * | 2002-03-09 | 2002-11-27 | 燕山大学 | Spatially symmetrical and parallel robot mechanism with dual parallel lines and 3,4 and 5 freedoms |
| CN1528568A (en) * | 2003-10-08 | 2004-09-15 | 杨廷力 | Three-translation-one-rotation parallel mechanism for imaginary axis machine tool and robot |
| CN102441795A (en) * | 2011-09-15 | 2012-05-09 | 常州大学 | Three-translation-parallel-operation platform |
-
2011
- 2011-09-15 CN CN2011102730927A patent/CN102350696A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
| CN1304820A (en) * | 2001-02-28 | 2001-07-25 | 中国石化集团金陵石油化工有限责任公司 | 3D parallel translation mechanism for virtual-axle machine tool and robot |
| CN1310075A (en) * | 2001-04-10 | 2001-08-29 | 中国石化集团金陵石油化工有限责任公司周卫东转 | Three-dimensional translation parallel mechanism for robot and virtual-axis machine measurer |
| CN1381337A (en) * | 2002-03-09 | 2002-11-27 | 燕山大学 | Spatially symmetrical and parallel robot mechanism with dual parallel lines and 3,4 and 5 freedoms |
| CN1528568A (en) * | 2003-10-08 | 2004-09-15 | 杨廷力 | Three-translation-one-rotation parallel mechanism for imaginary axis machine tool and robot |
| CN102441795A (en) * | 2011-09-15 | 2012-05-09 | 常州大学 | Three-translation-parallel-operation platform |
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Application publication date: 20120215 |